/*
* Copyright (c) 2018, NVIDIA CORPORATION. All rights reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*/

#ifndef __ROS_DEEP_LEARNING_IMAGE_CONVERTER_H_
#define __ROS_DEEP_LEARNING_IMAGE_CONVERTER_H_

#include <sensor_msgs/Image.h>


/**
* GPU image conversion
*/
class imageConverter
{
public:
    /**
    * Constructor
    */
    imageConverter();

    /**
    * Destructor
    */
    ~imageConverter();

    /**
    * Convert to 32-bit RGBA floating point
    */
    bool Convert( const sensor_msgs::ImageConstPtr& input );

    /**
    * Convert to ROS sensor_msgs::Image message
    */
    bool Convert( sensor_msgs::Image& msg_out, const std::string& encoding );

    /**
    * Resize the memory (if necessary)
    */
    bool Resize( uint32_t width, uint32_t height );

    /**
    * Retrieve the converted image width
    */
    inline uint32_t GetWidth() const  { return mWidth; }

    /**
    * Retrieve the converted image height
    */
    inline uint32_t GetHeight() const  { return mHeight; }

    /**
    * Retrieve the size of the converted image (in bytes)
    */
    inline size_t GetSize() const   { return mSize; }

    /**
    * Retrieve the GPU pointer of the converted image
    */
    inline float* ImageGPU() const  { return mOutputGPU; }

private:

    uint32_t mWidth;
    uint32_t mHeight;
    size_t   mSize;

    uint8_t* mInputCPU;
    uint8_t* mInputGPU;

    float*   mOutputCPU;
    float*   mOutputGPU;
};

#endif

